version: 66.06
glider: 146
mission: 6
dive: 79
start: 5 20 111 23 33 21
data:
$ID,146
$MISSION,6
$DIVE,79
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-269014.53
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,232501,2249.918,-15803.305,22,1.5,27,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.4
$GPS2,233226,2249.991,-15803.375,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.097
$KALMAN_X,-57686.6,-608.2,61.6,47002.8,-925.8
$KALMAN_Y,-104967.9,-206.4,461.0,115988.7,-964.4
$MHEAD_RNG_PITCHd_Wd,55.5,10881,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.22,0.000,2,0.000,0.000,480,1725,3326,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.6,10,126,12.32,2.67,-2.88,0.000,4,0.158,0.047,2798,3364,3481,0,0,0,0,0,0
$GC,152,-0.97,-116.8,20.0,-30.7,16,160,0.43,2.53,0.00,0.000,6,0.102,0.028,2891,1807,3482,0,0,0,0,0,0
$GC,429,-0.97,-116.8,60.9,-12.8,45,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1807,3483,0,0,0,0,0,0
$GC,691,-0.97,-116.8,96.6,-13.1,70,695,0.00,2.45,0.00,0.000,4,0.000,0.032,2891,3370,3484,0,0,0,0,0,0
$GC,748,-1.04,-116.8,103.9,-11.8,74,757,0.00,2.60,0.00,0.000,6,0.000,0.031,2891,1766,3484,0,0,0,0,0,0
$GC,1015,-1.10,-116.8,134.7,-10.3,99,1019,0.00,2.53,0.00,0.000,4,0.000,0.028,2891,3371,3485,0,0,0,0,0,0
$GC,1060,-1.20,-116.8,140.4,-10.4,102,1069,0.15,2.58,0.00,0.000,6,0.035,0.028,2834,1775,3485,0,0,0,0,0,0
$GC,1327,-1.20,-116.8,173.2,-12.4,127,1331,0.00,2.53,0.00,0.000,4,0.000,0.027,2834,3370,3485,0,0,0,0,0,0
$GC,1355,-1.20,-116.8,177.4,-11.8,129,1359,0.00,2.55,0.00,0.000,6,0.000,0.031,2834,1775,3486,0,0,0,0,0,0
$GC,1633,-1.20,-116.8,209.1,-11.0,149,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1776,3486,0,0,0,0,0,0
$GC,1878,-1.20,-116.8,236.8,-11.6,155,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1775,3486,0,0,0,0,0,0
$GC,2120,-1.20,-116.8,264.7,-11.2,161,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1775,3486,0,0,0,0,0,0
$GC,2364,-1.20,-116.8,291.0,-10.6,167,2368,0.00,2.58,0.00,0.000,4,0.000,0.042,2834,3375,3486,0,0,0,0,0,0
$GC,2390,-1.20,-116.8,293.8,-10.8,167,2395,0.00,2.60,0.00,0.000,6,0.000,0.041,2834,1789,3486,0,0,0,0,0,0
$GC,2642,-1.20,-116.8,319.7,-10.3,173,2646,0.00,2.58,0.00,0.000,4,0.000,0.035,2834,3374,3485,0,0,0,0,0,0
$GC,2674,-1.20,-116.8,323.3,-10.9,173,2680,0.00,2.62,0.00,0.000,6,0.000,0.043,2834,1789,3485,0,0,0,0,0,0
$GC,2924,-1.20,-116.8,350.2,-10.8,180,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1789,3484,0,0,0,0,0,0
$GC,3168,-1.20,-116.8,376.7,-10.8,186,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1788,3483,0,0,0,0,0,0
$GC,3413,-1.20,-116.8,402.8,-10.6,192,3417,0.00,2.60,0.00,0.000,4,0.000,0.051,2834,3361,3482,0,0,0,0,0,0
$GC,3490,-1.26,-116.8,410.9,-10.2,193,3496,0.00,2.67,0.00,0.000,6,0.000,0.061,2833,1795,3481,0,0,0,0,0,0
$GC,3742,-1.30,-116.8,434.7,-9.4,200,3746,0.00,2.58,0.00,0.000,4,0.000,0.053,2834,3362,3480,0,0,0,0,0,0
$GC,3775,-1.37,-116.8,438.2,-9.6,200,3781,0.00,2.67,0.00,0.000,6,0.000,0.061,2834,1801,3480,0,0,0,0,0,0
$GC,4025,-1.42,-116.8,462.6,-9.9,207,4031,0.15,2.62,0.00,0.000,4,0.068,0.051,2786,3364,3478,0,0,0,0,0,0
$GC,4066,-1.42,-116.8,467.5,-12.6,208,4070,0.00,2.67,0.00,0.000,6,0.000,0.066,2786,1810,3478,0,0,0,0,0,0
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4353,-0.31,0.0,502.6,12.4,215,4453,1.15,0.00,96.78,0.937,6,0.091,0.000,3038,1946,3001,0,0,0,0,0,0
$STATE,4454,end apogee,CONTROL_FINISHED_OK
$STATE,4454,begin climb
$GC,4457,1.38,116.8,506.5,0.0,217,4569,1.60,3.15,99.50,0.911,4,0.058,0.113,3407,335,2522,0,0,0,0,0,0
$GC,4582,1.44,210.8,505.0,4.6,220,4668,0.00,2.60,80.43,0.899,6,0.000,0.041,3407,1898,2140,0,0,0,0,0,0
$GC,4950,1.45,223.5,473.3,9.3,229,4968,0.00,2.80,11.45,0.808,4,0.000,0.063,3406,3506,2087,0,0,0,0,0,0
$GC,5014,1.51,233.8,467.1,9.4,230,5030,0.15,2.72,10.27,0.791,6,0.080,0.054,3444,1924,2047,0,0,0,0,0,0
$GC,5275,1.51,233.8,438.5,10.9,236,5279,0.00,2.62,0.00,0.000,4,0.000,0.041,3445,3512,2042,0,0,0,0,0,0
$GC,5330,1.51,233.8,432.1,11.3,237,5334,0.00,2.72,0.00,0.000,6,0.000,0.055,3444,1928,2041,0,0,0,0,0,0
$GC,5596,1.51,233.8,403.8,10.8,244,5600,0.00,2.62,0.00,0.000,4,0.000,0.045,3445,3512,2039,0,0,0,0,0,0
$GC,5669,1.51,233.8,395.6,11.2,245,5673,0.00,2.65,0.00,0.000,6,0.000,0.046,3445,1941,2038,0,0,0,0,0,0
$GC,5918,1.51,233.8,366.5,11.6,251,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1940,2037,0,0,0,0,0,0
$GC,6162,1.51,233.8,335.7,12.6,257,6166,0.00,2.55,0.00,0.000,4,0.000,0.035,3445,3512,2036,0,0,0,0,0,0
$GC,6184,1.51,233.8,332.9,13.0,257,6189,0.00,2.60,0.00,0.000,6,0.000,0.041,3445,1937,2035,0,0,0,0,0,0
$GC,6439,1.51,233.8,301.3,12.1,264,6443,0.00,2.60,0.00,0.000,4,0.000,0.041,3445,3519,2034,0,0,0,0,0,0
$GC,6477,1.51,233.8,296.8,11.7,265,6482,0.00,2.58,0.00,0.000,6,0.000,0.040,3445,1954,2033,0,0,0,0,0,0
$GC,6762,1.51,234.6,267.6,10.0,272,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1954,2033,0,0,0,0,0,0
$GC,7004,1.53,246.2,244.8,9.4,278,7016,0.00,0.00,9.82,0.711,6,0.000,0.000,3445,1954,1996,0,0,0,0,0,0
$GC,7248,1.53,246.2,220.2,10.3,284,7252,0.00,2.80,0.00,0.000,4,0.000,0.071,3445,341,1995,0,0,0,0,0,0
$GC,7309,1.53,246.2,212.8,12.6,285,7313,0.00,2.62,0.00,0.000,6,0.000,0.024,3445,1994,1993,0,0,0,0,0,0
$GC,7565,1.53,246.2,183.9,10.5,300,7569,0.00,2.45,0.00,0.000,4,0.000,0.041,3445,3518,1993,0,0,0,0,0,0
$GC,7620,1.58,246.2,178.2,11.2,304,7625,0.00,2.55,0.00,0.000,6,0.000,0.037,3445,1947,1992,0,0,0,0,0,0
$GC,7888,1.61,272.2,153.3,8.5,328,7923,0.00,2.62,23.48,0.683,4,0.000,0.033,3445,3516,1890,0,0,0,0,0,0
$GC,7951,1.66,278.6,147.5,9.7,333,7965,0.10,2.55,7.07,0.579,6,0.090,0.036,3474,1962,1864,0,0,0,0,0,0
$GC,8231,1.66,278.6,117.8,10.5,359,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1962,1862,0,0,0,0,0,0
$GC,8492,1.66,278.6,88.1,11.6,384,8496,0.00,2.50,0.00,0.000,4,0.000,0.032,3474,3522,1861,0,0,0,0,0,0
$GC,8596,1.66,278.6,76.6,11.8,392,8601,0.00,2.50,0.00,0.000,6,0.000,0.030,3474,1976,1860,0,0,0,0,0,0
$GC,8863,1.66,278.6,46.2,10.9,416,8867,0.00,2.75,0.00,0.000,4,0.000,0.057,3474,340,1860,0,0,0,0,0,0
$GC,8910,1.66,278.6,40.1,12.6,419,8919,0.00,2.62,0.00,0.000,6,0.000,0.018,3474,2013,1860,0,0,0,0,0,0
$GC,9212,1.70,282.8,9.4,9.8,459,9222,0.00,2.40,4.82,0.417,4,0.000,0.038,3474,3517,1847,0,0,0,0,0,0
$STATE,9265,end climb,SURFACE_DEPTH_REACHED
$STATE,9265,begin surface coast
$FINISH,0.3,0.980144
$STATE,9294,end surface coast,CONTROL_FINISHED_OK
$STATE,9294,begin surface
$SM_CCo,9321,95.20,0.542,0,0,1370,400.08
$SM_GC,1.00,0.00,0.00,95.20,0.000,0.000,0.542,477,1763,1370,-12.11,-0.20,400.08
$IRIDIUM_FIX,2241.69,-15804.53,130800,212123
$TT8_MAMPS,0.026078
$HUMID,57.67
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,42
$24V_AH,23.5,10.122
$10V_AH,10.4,8.639
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.250,110.275,343.625,95.200,0.000,61.560,65.096,140.487,10.500,0.000,13.483,933.141,6162.638,506.843,1759.597,505.041,33.361,1167.272,0.000,1766.737,0.000,0.533,0.000
$DEVICE_MAMPS,158.002,112.749,937.274,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.453,265.640,364.255,698.979,1057.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38485,470
$CAP_FILE_SIZE,93651,0
$CFSIZE,260165632,178110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,021136,2250.094,-15802.467,38,1.1,38,10.1